US9655343B2 - Unmanned feed wagon - Google Patents

Unmanned feed wagon Download PDF

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Publication number
US9655343B2
US9655343B2 US14/184,176 US201414184176A US9655343B2 US 9655343 B2 US9655343 B2 US 9655343B2 US 201414184176 A US201414184176 A US 201414184176A US 9655343 B2 US9655343 B2 US 9655343B2
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Prior art keywords
feed wagon
wagon according
chassis
steering
unmanned feed
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Expired - Fee Related, expires
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US14/184,176
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US20140230737A1 (en
Inventor
Liet Cornelis HENDRICUS
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Trioliet Holding BV
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Trioliet Holding BV
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Assigned to TRIOLIET HOLDING B.V. reassignment TRIOLIET HOLDING B.V. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HENDRICUS, LIET CORNELIS
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
    • A01K5/02—Automatic devices
    • A01K5/0266—Automatic devices with stable trolleys, e.g. suspended
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
    • A01K5/001—Fodder distributors with mixer or shredder
    • A01K5/004—Fodder distributors with mixer or shredder with mixing or shredding element rotating on vertical axis

Definitions

  • the invention relates to an unmanned feed wagon, which is used e.g. as a feeding robot for feeding animals in a stable and which, to this end, must be movable in the stable lane from and to the loading facilities, such as a silo or the like.
  • Such a feed wagon with a ground-supported chassis is known e.g. from EP 0 739 161.
  • the feed wagon is equipped with an on-board battery. Batteries are, however, comparatively heavy so that a certain compromise between the time available up to the next charging operation and the weight of the battery must be made. In particular in large agricultural farms the limited range of the battery may be problematic. Moreover, batteries do not have an unlimited service life, the mean service life to be reckoned with being approximately 3 years. Furthermore, the capacity decreases abruptly when the battery is operated at low temperatures, e.g. outdoors in winter (at ⁇ 20° C.).
  • the known feeding robot is therefore configured such that a power rail is installed in the stable lane, and the feeding robot can charge its battery on said power rail while dispensing fodder in the stable lane.
  • the sliding contact is, however, connected to the battery; therefore, the drawbacks of the battery have to be put up with nevertheless.
  • a further problem of unmanned feed wagons with a ground-supported chassis is feed wagon navigation, which must be configured robustly and operate safely and reliably.
  • route markings are defined along the path of movement, which the feed wagon is intended to cover automatically and without being driven by an operator, and on the occasion of a manned trip of the feed wagon along the path of movement these route markings are stored. Route markings may, however, change and they are comparatively difficult to define, in particular during a trip in the open country which may perhaps become necessary.
  • NL-A-1033907 describes an unmanned feed wagon driven via a battery or an internal combustion engine.
  • Internal combustion engines are, however, not very desirable for use in a stable because of the emissions and the risk that hay and straw may catch fire.
  • EP-A-2 124 528 and NL-A-1033907 disclose navigation systems for feeding robots with which said feeding robots can automatically move in space freely and in a target-oriented manner.
  • NL-A-7901058 discloses a feeding robot which, with the aid of sensing devices operating in a contact-free manner, holds a feed wagon always precisely centrally to a suspended guide rail.
  • a ground-supported chassis can be supplied with operating power easily and without any interruptions for charging a possible battery.
  • the technique of tapping the power via a sliding contact from a power rail is robust, proven and tested and adapted to ground-supported chassis in accordance with the present invention.
  • the steering mechanism according to the present invention that makes use of a steering rail and a sensing device for sensing the predetermined path of movement is also structurally simple and robust in operation and adapted to the ground-supported chassis according to the present invention.
  • the steering rail and the power rail may be arranged on a common carrier, whereby the structural design will be simplified still further.
  • the power rail and/or the steering rail are arranged above the chassis, they are located outside the working area in the stable lane or in the silo or the like, so that they will not disturb the flow of work.
  • the path of movement is sensed mechanically from the steering rail, in particular by constant contact between a sensing head and the steering rail.
  • the sensing head is connected to the chassis via a pivotable steering arm, this will allow compensating movements and evasive movements of the chassis on the one hand; on the other hand, it will be possible to realize, in spite of rigid steering rails, various operating and movement positions of the feed wagon, e.g. cornering or the so-called “crab-steering mode”, in the case of which the longitudinal centre line of the feed wagon extends at an angle relative to the path of movement.
  • a simple spiral spring which guarantees length compensation so to speak automatically, may be provided instead of a steering arm.
  • a pull switch which switches if the spring should be excessively extended, may be integrated in the spring or provided parallel thereto.
  • the sliding contact is arranged on a carriage which follows the power rail, also the sensing head being arranged on this carriage according to an expedient embodiment.
  • FIG. 1 shows a schematic side view of an embodiment of a feed wagon according to the present invention
  • FIG. 2 shows the top view of the feed wagon according to FIG. 1 ,
  • FIG. 3 shows the front view of the feed wagon according to FIG. 1 .
  • FIG. 4 shows an enlarged representation of the steering mechanism of a feed wagon according to the present invention
  • FIG. 5 shows an enlarged sectional view of the sensor unit
  • FIG. 6 shows an enlarged representation of the steering arm
  • FIG. 7 shows the feed wagon according to FIG. 1 during cornering
  • FIG. 8 shows a further embodiment of a feed wagon according to the present invention during cornering
  • FIG. 9 shows the feed wagon according to FIG. 8 in a top view
  • FIG. 10 shows the feed wagon according to FIG. 8 in a front view
  • FIG. 11 shows a further embodiment of a feed wagon according to the present invention during cornering
  • FIG. 12 shows a further operating mode of the feed wagon according to the present invention.
  • FIG. 13 shows a further operating mode (crab steering mode) of the feed wagon according to the present invention.
  • FIGS. 1 to 3 show in various views a first embodiment of an unmanned feed wagon 1 according to the present invention, which, except for the details described hereinbelow, is configured like a conventional feed wagon.
  • the feed wagon 1 includes a ground-supported chassis 2 comprising here four steered wheels 3 , which are arranged in pairs opposite one another and in succession to one another and which are capable of rolling on an underlying surface 4 , e.g. in the stable lane or in the area of the silo.
  • the feed wagon 1 is driven via an electric drive 5 .
  • each of the four wheels 3 is adapted to be driven by individual drives in the form of wheel motors individually and independently of the respective other wheels ( FIG. 3 ).
  • the wheel motors are connected to a signal-processing and control unit 6 , which is operable by a computer that is not shown.
  • the computer is preferably located outside the feed wagon and is connected thereto by a cable or in a cable-free manner.
  • the feed wagon 1 may additionally have provided thereon a control panel 7 . Via the control unit 6 the driving speed and/or the number of revolutions of individual wheels 3 can be controlled in a programmable manner.
  • the feed wagon 1 additionally comprises the conventional container 8 , which has here an elongated oval shape and which normally accommodates a mixing device 9 that is here not shown or only shown in outlines.
  • safety means such as bumpers 10 with an emergency shutdown may be provided.
  • the electric drive 5 of the feed wagon 1 is supplied with operating power with the aid of a power rail 11 , which is provided with a power junction box 11 a , and a sliding contact device 12 .
  • the sliding contact 12 is arranged on a carriage 13 , which, in a manner that will have to be described hereinbelow, is moved by the feed wagon 1 along the power rail 11 on a predetermined path of movement BW.
  • An electric connection line extends from the sliding contact device 12 directly to the electric drive 5 , i.e. the electric drive 5 has electric power directly supplied thereto from the sliding contact 12 via an electric cable 11 b.
  • the power rail 11 is fixed to a carrier 14 imparting the necessary mechanical strength thereto and extending along the predetermined path of movement BW.
  • the carrier 14 is arranged above the feed wagon 1 and its chassis 2 , and, e.g. by means of a suspension 14 a , it is secured in position either on the ceiling or at other suitable locations, e.g. pillars, such that it will follow the predetermined path of movement BW. Since the feed wagon 1 is ground-supported, the weight that has to be carried by the carrier 14 is essentially only its own weight, so that the static demands on the strength of the anchoring points are low.
  • the carrier 14 additionally comprises a steering surface 15 , which also extends along the predetermined path of movement BW.
  • the steering surface 15 serves to guide a steering mechanism 16 for the feed wagon 1 .
  • the steering mechanism 16 comprises a sensing device 17 with a sensing head, which is in direct contact with the steering rail 15 , thus sensing the contour of the predetermined path of movement BW on the steering rail 15 .
  • the carriage 13 rests via supporting wheels 13 a on a profile of the carrier 14 such that at least one of the supporting wheels 13 a or a separate guide wheel (not shown) is in permanent contact with the steering surface 15 . At the same time, forces are taken up in all directions.
  • the carriage 13 carrying the sliding contact 12 is also configured as a sensing head.
  • the sensing device 17 additionally includes a steering arm 18 that is pivotably articulated on the sensing head on the carriage 13 as well as on a support rod 19 , which is fixedly connected to the chassis 2 , if necessary via intermediate components, and which is capable of transmitting all the movements of the chassis 2 to the steering arm 18 .
  • the articulation points 18 a , 18 b of the steering arm 18 on the carriage 13 on the one hand and the support rod 19 on the other are spaced apart vertically as well as horizontally, when the wheels 3 rest on the ground 4 .
  • the articulation points are configured such that they allow a pivotal movement of the steering arm 18 in a vertical as well as in a horizontal plane and in all the intermediate planes, at least through the angular ranges in which such a relative movement can actually occur during operation.
  • the relative movements between the steering arm 18 and the support rod 19 are monitored by a sensor unit 20 ( FIGS. 4 to 6 ).
  • the sensor unit 20 comprises sensors, which preferably operate in a contact-free manner, so as to determine an angle of rotation ⁇ of the steering arm 18 about the longitudinal center line 19 ′ of the support rod 19 as well as a vertical pivoting angle ⁇ between the longitudinal center lines 18 ′, 19 ′ of the steering arm 18 and the support rod 19 .
  • the determination of the pivoting angle ⁇ takes place in the area of an articulation point 18 a of the steering arm 18 on a rotary sleeve 19 a , which, via a bearing 19 b , is placed on the upper end face of the support rod 19 such that it is rotatable thereon but secured against axial displacement relative thereto.
  • the determination of the pivoting angle ⁇ is preferably carried out for reasons of safety and causes emergency shutdown, if the chassis 2 should e.g. collide with an obstacle, which means that the feed wagon 1 will be raised, or tilt over an edge, which means that the feed wagon 1 will be lowered.
  • Determining and monitoring this pivoting angle is, however, also expedient, if the predetermined path of movement should comprise upward and/or downward slopes.
  • Any suitable sensor e.g. a magnet-based sensor or the like, may be used as an angle sensor for the pivoting angle ⁇ .
  • the control unit 6 connected by means of a signaling and feed line 20 a defines a tolerance range for the angle ⁇ , which is tolerable with respect to uneven terrain that can easily be coped with by the feed wagon or with respect to variations in the steering behavior and which does e.g. not necessitate any intervention on the part of the control unit, let alone an emergency shutdown.
  • the determination of the pivoting angle ⁇ will support downward and upward trips.
  • the angle of rotation ⁇ defines the actual steering behavior, i.e. the horizontal distance between the projection of the steering rail 15 and the chassis 2 related to the position of the two articulation points 18 a , 18 b of the steering arm 18 on the rotary sleeve 19 a and the carriage 13 , respectively, transversely to the path of movement BW.
  • the angle of rotation ⁇ is monitored by a suitable sensor 21 , e.g. a magnetic sensor, defined by a magnet 22 , which is fixedly connected to the support rod 19 , and a sensor 23 , which is fixedly connected to the rotary sleeve 19 a .
  • the signals from the sensor 21 are transmitted to the control unit 6 and/or the computer by the signaling line 20 a or by wireless transmission.
  • the angle of rotation ⁇ defines the angle between the steering arm 18 and the path of movement BW.
  • Angles of rotation which correspond to different operating states and which have to be kept constant during these operating states for retaining the feed wagon 1 on the predetermined path of movement, are stored in the control unit or in the computer.
  • These operating states are defined e.g. by manual test runs, in which the data created during this “learning trip” are stored with a suitable software routine and copied in the case of each unmanned trip.
  • the steering arm 18 includes, as a further safety feature, a length compensation system 24 , which, on the one hand, limits the forces to be taken up by the steering arm 18 and prevents the latter thus from being damaged when the feed wagon 1 moves beyond the admissible areas of steering and which, on the other hand, ensures a sufficient amount of time for a corrective intervention on the part of the control so as to initiate an intentional steering action or safety action.
  • the length compensation system 24 is equipped with emergency shutdown means 25 .
  • the steering arm 18 which is spring-loaded by a spring 24 a , is telescopically variable in length, the contact of the switch 25 being interrupted if the variation in length exceeds an acceptable degree. This result may also be accomplished by a variant according to which the steering arm in its entirety is replaced by a spiral spring with an integrated pull switch. This kind of spring allows more flexibility and realizes length compensation automatically.
  • the angle of rotation ⁇ in particular a tolerance range of the angle of rotation ⁇ , and possibly also the pivoting angle ⁇ or a tolerance range of the pivoting angle ⁇ are specified, which angles must be kept constant, when the feed wagon 1 is on the predetermined path of movement. If one of the angles, determined by the sensor unit 20 , deviates in an unacceptable manner from the angle of rotation ⁇ or the pivoting angle ⁇ , the control will initiate a corrective steering movement in the chassis 2 , e.g. by a defined steering movement of the steered wheel or wheels 3 or by changing the number of revolutions of individual wheels or by other measures. This allows the feed wagon 1 to be retained on the predetermined path of movement in a structurally simple and reliable manner.
  • the steering arms 18 should expediently be arranged such that the carriage 13 is positioned as close as possible to the vertical center line 2 ′ of the chassis 2 .
  • cornering will easily be possible with two steered pairs of wheels, as can be seen in FIG. 7 .
  • Care should be taken that the vertical center line 2 ′ is located close to the carrier 14 or extends therethrough.
  • the steering arm 18 should be positioned such that it extends parallel to the wheel position, i.e. indicates the steering angle of the wheels 3 .
  • FIG. 9 illustrates the arrangement of the carriage 13 on the vertical center line 2 ′, whereby extremely precise cornering is allowed.
  • FIG. 10 shows the feed wagon according to FIGS. 8 and 9 moving straight ahead, the chassis 2 being provided with laterally opposed wheels 3 and two central leading and trailing wheels 3 .
  • FIG. 11 shows the cornering of an elongate container 8 with an elongate chassis 2 , the wheels being, however, arranged in the way shown in FIGS. 8 to 10 .
  • the distance between the two juxtaposed wheels defining a pair of wheels is, however, different from the distance between the leading and trailing wheels (the wheel distance transversely to the path of movement is smaller).
  • two different angles of rotation ⁇ or angle-of-rotation ranges can be defined per chassis 2 (or feed wagon 1 ), said angles or angular ranges being displaced relative to one another by approximately 90°.
  • This allows one and the same chassis 2 with a single carrier and preferably a single steering rail 15 and power rail 11 , respectively, to be moved on two different paths of movement BW1 and BW2 parallel to one another.
  • the principle of moving the chassis 2 with its vertical center line 2 ′ below the carrier rail 14 must here be abandoned.
  • the vertical center line 2 ′ and the longitudinal center line 2 ′′ of the chassis 2 are here displaced in a horizontal direction relative to the carrier 14 .
  • FIG. 13 shows that the invention can also be applied when the feed wagon 1 is operated in the so-called “crab steering mode”, i.e. when the longitudinal center line 2 ′′ of its chassis 2 extends at an angle ⁇ to the predetermined direction of movement BW.
  • the feed wagon 1 is moved in this operating mode, if it should be necessary or desirable to position one of the feed wagon sides closer to the laterally positioned feed locations on the stable lane.
  • an angle of rotation ⁇ or an angle-of-rotation range which must be observed while the feed wagon 1 is moving, can be defined and stored.
  • a three-wheeled chassis instead of a chassis having four wheels.
  • the three wheels used may be two driving rear wheels located in one plane and a simple non-driven pivotable supporting wheel in the front.
  • the two rear wheels may be adapted to be driven individually. Steering is then executed indirectly by driving these two wheels at different speeds.
  • a chassis realized with only three wheels it would, however, also be possible to drive and steer only the front wheel and to realize the two rear wheels as simple idler wheels. It is, however, also imaginable to steer and drive each of the three wheels.
  • the feed wagon may also be provided with an on-board (emergency power) battery, so that it can also be moved without a rail.
  • a battery or an internal combustion engine with a suitable dynamo or some other kind of power source would also be expedient as a temporary power supply, if the feed wagon has to be moved outside the area of the power rail, e.g. between spatially separated sites of use or for parking and the like.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Birds (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
US14/184,176 2013-02-20 2014-02-19 Unmanned feed wagon Expired - Fee Related US9655343B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE202013001659.0U DE202013001659U1 (de) 2013-02-20 2013-02-20 Unbemannter Futterwagen
DE202013001659.0 2013-02-20
DE202013001659U 2013-02-20

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US20140230737A1 US20140230737A1 (en) 2014-08-21
US9655343B2 true US9655343B2 (en) 2017-05-23

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EP (1) EP2769617A1 (fr)
CA (1) CA2843302C (fr)
DE (2) DE202013001659U1 (fr)

Cited By (3)

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US10558223B2 (en) 2017-10-26 2020-02-11 Rovibec Inc. Autonomous vehicle for pushing feed, methods and systems thereof
WO2022074496A1 (fr) * 2020-10-05 2022-04-14 Lely Patent N.V. Véhicule agricole
NL1043807B1 (nl) * 2020-10-06 2022-06-03 Lely Patent Nv Landbouwvoertuig

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DE202013001659U1 (de) 2013-02-20 2014-05-21 Trioliet Holding B.V. Unbemannter Futterwagen
NL2010499C2 (en) * 2013-03-21 2014-09-24 Lely Patent Nv Vehicle for displacing feed lying on a floor in a sideward displacement direction.
DK178276B1 (en) * 2014-12-19 2015-10-26 Conpleks Innovation Aps Method for recording and predicting position data for a selfpropelled wheeled vehicle, and delivery or pick up system comprising a self-propelled, self-guided wheeled vehicle
DE202015104468U1 (de) 2015-08-24 2016-11-25 Trioliet B. V. System mit einem Futterwagen und mit einem Stromschienensystem zur Stromversorgung des Futterwagens
USD869789S1 (en) * 2017-04-19 2019-12-10 Rotecna, S.A. Machine for processing animal feed
CN107173248A (zh) * 2017-06-26 2017-09-19 安徽永牧机械集团有限公司 一种机器人推料机
CN109169343A (zh) * 2018-09-25 2019-01-11 赵晨希 一种畜牧业养殖用方便饲喂和饮水装置
NL2021727B1 (en) * 2018-09-28 2020-05-07 Lely Patent Nv Automatic feeding system, barn for housing animals using such a system, autonomously moveable feeding device for use in such a system, and impact element for use in such a system
NL2023390B1 (en) * 2019-06-26 2021-02-01 Lely Patent Nv Method of feeding a group of animals at a feeding location and system for performing the method
CN112302297A (zh) * 2019-08-01 2021-02-02 广东博智林机器人有限公司 上料机器人
DE202019106424U1 (de) 2019-11-19 2021-02-22 Trioliet B.V. Futtermischwagen
CN111869583A (zh) * 2020-08-21 2020-11-03 深圳市乐犇科技有限公司 一种多功能宠物喂食小车
WO2023195016A1 (fr) * 2022-04-07 2023-10-12 Pakshimitra Poultry Technologies Private Limited Système et dispositifs de gestion d'un élevage de volailles
CN115191365A (zh) * 2022-05-11 2022-10-18 宁夏新大众机械有限公司 一种饲喂机及导航纠偏方法

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US20140230737A1 (en) 2014-08-21
CA2843302C (fr) 2019-06-11

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